Method for Assisting Navigation of an Endoscopic Device

ABSTRACT

A method for assisting navigation of an endoscopic device using a controller with the aid of a digital image data record of an imaging examination modality is provided. The digital image data record describes an image of an object to be examined with the aid of the endoscopic device in a cavity element. A digital two-dimensional or multi-dimensional model of the object to be examined is determined based on the image data record. An operating action that predetermines a relative location of a sensor of the endoscopic device in relation to the object based on the model is received. The model is registered with the endoscopic device and/or a digital endoscopic data record supplied by the endoscopic device. An initial location of the sensor is compared with the predetermined location, and a navigation signal for navigating the endoscopic device is generated taking into account the predetermined relative location.

This application claims the benefit of DE 10 2014 203 097.8, filed onFeb. 20, 2014, which is hereby incorporated by reference in itsentirety.

BACKGROUND

The present embodiments relate to assisting navigation of an endoscopicdevice with the aid of at least one digital image data record of animaging examination modality.

The present embodiments are under the field of endoscopy and thereforedeal with an examination of a cavity element with the aid of anendoscopic device. The cavity element examined may be a cavity elementof a technical device or a hollow organ of a patient. In the area ofminimally invasive surgery, an optical instrument (e.g., a rigidendoscope) may be introduced into different body cavities. To keep thesurgical intervention as minimal as possible, such instruments areintroduced into the body through a body opening or an incision, intoentry openings or ports (e.g., a port in the abdominal wall of a patientor a hole in an outer wall of a cavity element of a technical device).The introduction of an endoscopic device through a port is advantageous,as the introduction reduces the trauma for a patient, for example, asmuch as possible. The introduction of an endoscopic device through aport may, however, also cause certain problems. One example of a problemdue to such a port, which is located in an abdominal wall, for example,is the restriction of the degrees of freedom with which the endoscopicdevice may be moved. Cavities to be examined may therefore only beviewed to a limited degree, or it may not be possible to set anadvantageous viewing angle for the object to be examined. Such a problemis referred to in the following as a compromising condition. During thecourse of, for example, a minimally invasive surgical intervention inthe abdomen, where the port (i.e., the entry opening) is a hole in theabdominal wall, it may disadvantageously be that, for example, the livermay not be visualized from all positions and angles within the bodycavity, as the movement of the endoscopic device may not be transferredat the entry opening.

Until now, this problem has been solved to some degree by usingendoscopes that have an angled optical system (e.g., with an angle of 30degrees and 70 degrees). Different viewing angles may be achieved byrotating the endoscope about an axis of the endoscope.

In the prior art, the cited disadvantage is resolved by a rigidendoscope with a flexible tip, which allows additional viewing anglesand observation positions to be achieved with the aid of the flexiblecomponent enclosing the optical system. The optical system is, forexample, incorporated in the tip of the endoscope. However, thisapproach requires extensive structural changes to the hardware andsignificantly restricts the resolution of the optical device (e.g., theendoscopic device, as a computer chip with a correspondingly smallerwidth is to be mounted on the tip). There are still problems due to theentry opening with the result that not all the viewing positions and/orviewing angles of the three-dimensional volumetric data record may beachieved with the endoscope.

SUMMARY AND DESCRIPTION

The scope of the present invention is defined solely by the appendedclaims and is not affected to any degree by the statements within thissummary.

The present embodiments may obviate one or more of the drawbacks orlimitations in the related art. For example, image quality of andinformation provided by an endoscopic image are improved.

One or more of the present embodiments are based on the notion ofcontrolling the navigation of an endoscopic device, with the endoscopicview corresponding partially or completely to a view of a, for example,three-dimensional volumetric image of the imaging examination modality.In other words, navigation takes place such that a sensor of theendoscopic device is aligned based on, for example, a three-dimensionalmodel. The exemplary three-dimensional volume (e.g., thethree-dimensional image data record) is overlaid on the endoscopicimage. The simultaneous view of the, for example, three-dimensionalvolumetric image advantageously favors a visualization of anatomical andpathological structures to assist a user with the navigation of theendoscopic device. It also allows the sensor to be located such that apredetermined point of the object to be examined may advantageously beacquired, so the sensor may produce high quality images withoutrequiring specific technical embodiments.

The method for assisting navigation of an endoscopic device (e.g., anendoscope for a medical application or an endoscope for a technicalexamination) is performed by a control facility (e.g., a control device)that may be integrated in the endoscopic device or device that isseparate therefrom. An endoscopic device refers, for example, to adevice that may be used to examine or even change a cavity element of aliving organism, as well as of a technical device.

The method is performed with the aid of at least one digital image datarecord of an imaging examination modality (e.g., a two-dimensional orthree-dimensional image data record of an imaging examination modalityin the form of an x-ray device or CT device). The at least one digitalimage data record in each instance describes an image of an object to beexamined with the aid of the endoscopic device in the cavity element(e.g., in a hollow organ of a patient). The method includes determininga digital two-dimensional or multi-dimensional model of the object to beexamined based on the at least one image data record, and receiving anoperating action (e.g., a body gesture of a user) that predetermines arelative location of a sensor of the endoscopic device in relation tothe object based on the model. The method also includes registering themodel with the endoscopic device and/or a digital endoscopic data recordsupplied by the endoscopic device (e.g., with a video image of a sensorof the endoscopic device), for example, by overlaying and/or aligningthe digital data records. The method also includes comparing an initiallocation of the sensor with the predetermined location, and generating anavigation signal for navigating the endoscopic device taking intoaccount the predetermined relative location.

The model is a patient-specific model, in which the patient-specificanatomical structures may be identified. The model may be, for example,a two-dimensional model or a multi-dimensional image (e.g., one withmore dimensions; a three-dimensional or four-dimensional image). Themodel may include, for example, a two-dimensional x-ray image and/or anultrasound sectional image. This further optimizes a direction ofmovement of the endoscope, for example, along a navigation path, as thepatient-specific anatomy is taken into account. By predetermining therelative location of the sensor, a desired viewing angle and/or adesired viewing direction may be set for a specified point of the objectto be examined. A relative location of the sensor is, for example,defined as a point or position of the sensor, where the sensor islocated in relation to the environment and/or an alignment of the (e.g.,a positional angle or tilt of the sensor).

This allows the sensor of the endoscopic device to be brought closer tothe predetermined point of an object to be examined and to be moved intoa favorable position, in order to improve the information provided byand the image quality of an endoscopic image. Registering the model withthe digital endoscopic data record generates augmented reality, whichprovides a user with an orientation aid. During an endoscopicexamination, an optimal alignment and/or an optimal view is thus set forthe object point. The navigation signal allows the endoscope to besteered and/or controlled. The method is independent of a position of acomputer chip, allowing a larger chip to be incorporated and a higherendoscopic image resolution to be achieved.

The method is suitable for assisting navigation of the endoscopic devicewithin a cavity element of a patient. This embodiment avoids unnecessarymovement of the endoscopic device completely or to some degree, therebypreventing unnecessary trauma to the tissue of a patient or unnecessarydamage to the material of the cavity element almost completely. In ordernot to damage any main vessels, for example, while navigating andguiding the endoscope or in order to resect tissue (e.g., a tumor),augmented reality may be deployed in minimally invasive surgery.

According to a further embodiment of the method, a navigation path froman initial location of the sensor to the predetermined relative locationmay be determined. This allows the predetermined location to be reachedin the best possible manner. Additionally or alternatively, thepredetermined location is modified to an alternative location of thesensor in a particularly advantageous manner. The determined navigationpath may additionally or alternatively be modified as a function of thetechnical embodiment of the sensor and/or a restricting condition, whichcompromises the capacity for movement of the endoscopic device. In otherwords, a technical embodiment of the sensor, for example, includes anangle of inclination, an acquisition angle, by way of which the sensormay acquire an image of an environment, or an angle of a sensor surface.A restricting condition, which compromises the capacity for movement ofthe endoscopic device, is, for example, a limiting of the ability of theendoscopic device to move through an entry opening into the cavityelement (e.g., a restriction due to a material, tissue or organ inproximity to the entry opening).

The entry opening may be, for example, located at a point, where a largeamount of sensitive tissue or a large number of vessels are located, ormay be configured as very rigid by an environment (e.g., a thick musclelayer). Taking into account the restricting condition and/or thetechnical embodiment of the sensor for determining the alternativelocation and/or the alternative navigation path allows improvedaccessibility to a point of the object to be examined, and there aremore degrees of freedom available for the movement of the endoscopicdevice. This also largely prevents frequent trial and error on the partof a user when moving the endoscopic device, which also favors thecomplete or partial avoidance of injuries to the cavity element.

An additional increase in the number of degrees of freedom of thecapacity for movement of the endoscopic device and substantial avoidanceof damage or trauma to the cavity element are achieved by a furtherembodiment of the method. According to this, an entry position of theendoscopic device into the cavity element is determined, and thenavigation path from the determined entry position to the predeterminedrelative location is determined. Alternatively or additionally, thedetermined entry position is modified as a function of a technicalembodiment of the sensor and/or of a restricting condition, whichcompromises the capacity for movement of the endoscopic device.

According to a further embodiment of the method, the generatednavigation signal may bring about the outputting of a navigationinstruction by an output facility. For example, a written instructionmay be output on an output facility in the form of a screen or, forexample, text may be output as an instruction by an output facility inthe form of a loudspeaker. A user of the endoscopic device does nottherefore have to keep in mind a coordinate system of the cavity elementas well as operating the endoscopic device but may concentrate oncontrolling the endoscopic device manually.

In order to reach the predetermined relative location or the alternativelocation of the sensor of the endoscopic device, according to a furtherembodiment of the method, a position of the sensor of the endoscopicdevice may be determined based on: a) an image data record supplied byan imaging examination modality; and/or b) a magnetic sensor, and/or anoptical locator, an optical tracker, and/or a mechanical/kinematic,kinematic or robotic locator, or by a position signal supplied by theendoscopic device. The determined position may additionally oralternatively be transferred and/or output to the model. The use of amagnetic sensor and/or an optical locator and/or a mechanical/kinematic,kinematic or robotic locator, or a position signal supplied by theendoscopic device proves advantageous, as this does not require anadditional x-ray dose for a patient.

A situation may arise, in which it is desirable to standardize thecontrol of the endoscopic device (e.g., if tests by differentlaboratories are to be standardized). The method may include automaticor semi-automatic control of the endoscopic device along the navigationpath by automatic or semi-automatic control of a control deviceconnected to the endoscopic device (e.g., a robot) using the navigationsignal.

In a further embodiment of the method, registration of the model withthe endoscopic device and/or the digital endoscopic data record suppliedby the endoscopic device may take place after receipt of the operatingaction. This allows the user to look first at different perspectives(e.g., different relative locations) and to select a preferred relativelocation. Where applicable, a specified selection of model may be storedwith a specified relative location, for example, on a storage medium.

A control facility (e.g., including a processor) configured to perform amethod according to one of the embodiments cited above is also provided.

An endoscopic device that includes a control device, as described above,is also provided.

A computer program product for assisting navigation of an endoscopicdevice including at least one non-transitory computer-readable storagemedium with a program code stored thereon, which is configured, whenexecuted by a control facility, to prompt the control facility toperform a method according to an embodiment of the method cited above,is also provided.

BRIEF DESCRIPTION OF THE DRAWINGS

Elements with same function have the same reference characters in theFIGURE.

FIG. 1 shows a schematic view of an embodiment of a method.

DETAILED DESCRIPTION

FIG. 1 shows the principle of one embodiment of a method for assistingnavigation of an endoscopic device 10 using a control facility 12 (e.g.,a controller) with the aid of at least one digital image data record 14of an imaging examination modality 16. The endoscopic device 10 mayinclude, for example, a rigid endoscope with, for example, a lens systemor a flexible endoscope (e.g., a video endoscope). The endoscopic device10 includes a sensor 18 (e.g., a lens system, a single lens or acamera). In FIG. 1, the endoscopic device 10, the sensor 18 of whichcovers a predetermined viewing angle due to structure of the sensor 18and therefore acquires a field of view B, is arranged in a schematicallyrepresented cavity element 20. To perform the method, however, theendoscopic device 10 may also be arranged initially outside the cavityelement 20.

The controller 12 may include a control device and in the presentexample is integrated in a device that is structurally separate from theendoscopic device 10. The controller 12 may, however, also be embodiedas a microcontroller or chip of the endoscopic device 10 or of a furthercontrol device 22 (e.g., a robot).

An imaging examination modality 16 includes a device configured togenerate a two-dimensional, three-dimensional or multi-dimensional imagedata record of an object 26 to be examined. For example, the imagingexamination modality 16 is an x-ray device, a magnetic resonancetomography system or a computed tomography system. The digital imagedata record 14 generated by the imaging examination modality 16 maytherefore include, for example, a two-dimensional or three-dimensionalx-ray image, a magnetic resonance (MRT) scan or an image data record 14of an exemplary computed tomography system.

In the present example, the method is used, for example, to navigate anendoscopic device 10 in the form of a medical endoscope. FIG. 1 shows apatient 24, from which the imaging examination modality 16 (e.g., acomputed tomography system) supplies, for example, a three-dimensionalimage data record 14 or a number of digital image data records 14 of theinternal organs of the patient 24 (method act S1). FIG. 1 shows thedigital image data record 14 schematically as an image of an object 26of the patient 24 to be examined (e.g., a liver). This exemplarypre-operative CT scan shows a predetermined point 28 of the object onthe object 26 to be examined (e.g., a liver tumor), which is to beresected, for example, in a planned intervention. The resection act isnot part of the method here. In addition to the imaging examinationmodality 16, further imaging examination modalities 16 may also supplyone or more image data records 14 (S1). The controller 12 uses thedigital image data record to determine a digital two-dimensional ormulti-dimensional model 30 (S2). In the present example, in FIG. 1, thecontroller 12 determines, for example, a three-dimensional model 30(S2). Widely used methods (e.g., for triangulation) are available fromthe prior art for the person skilled in the art when determining thethree-dimensional model 30.

As indicated schematically in FIG. 1, the entire object 26 to beexamined (e.g., the two hepatic lobes of the liver, a gall bladder and aportal vein) and the predetermined point 28 of the object 26 are shown.The exemplary three-dimensional model 30 also shows a representation ofan abdominal wall as a further predetermined point 28′.

Changes may also be made in the exemplary three-dimensional model 30(e.g., additional segmentation or omission of a selected structure), sothat the two-dimensional or multi-dimensional model 30 does not, forexample, show any arterial structures in the object 26 to be examined.

The two-dimensional or multi-dimensional model 30 advantageously showsimportant information relating to the object 26 to be examined, as auser may set different viewing angles and viewing positions in thetwo-dimensional or multi-dimensional model 30. This allows the user toidentify, for example, relevant anatomical and pathological points. Inthe example in FIG. 1, therefore, the exemplary liver tumor may beoptimally identified in the right part of the object 26 to be examined.

According to the method according to one or more of the presentembodiments, the controller 12 receives an operating action (e.g., arotation D, a movement of the two-dimensional or multi-dimensional model30 or a selection of a specified region of the two-dimensional ormulti-dimensional model 30) with a user interface 34 (e.g., a mouse) asthe operating facility. The operating action D may also include, forexample, a body gesture of a user. The operating action D may beacquired and determined, for example, using a camera and gesturerecognition software. Additionally or alternatively, the operatingaction may also be used, for example, to displace a view and to set anangle or viewing direction. A relative location of the endoscopic device10 in relation to the point 28 is then predetermined based on theoperating action. From this relative location, the sensor 18 may acquirethe point 28, for example, from a better angle and/or a moreadvantageous direction. It may also allow a user to store a selectedview of the two-dimensional or multi-dimensional model 30 on a storagemedium (e.g., in a cloud or on a physical data medium) in order to beable to retrieve the selected view again at a later time point.

Before the endoscopic device 10 moves to the predetermined location, theendoscopic device 10 is in a location, from which the sensor 18 mayacquire the predetermined point 28, for example, but less favorably. Theendoscopic device 10 supplies a digital endoscopic data record 36 (S6)(e.g., in the form of an image of the object 26 to be examined such as aliver) shown, for example, from an initial location of the endoscopicdevice 10. The controller 12 receives the digital endoscopic data record36 (S7), for example, via a wired communication connection or via awireless communication connection (e.g., WLAN).

The controller 12 registers the two-dimensional or multi-dimensionalmodel 30 in the present example with the digital endoscopic data record36 (S4), but this may also be done with the endoscopic device 10.Registration may take place, for example, using a feature-based orarea-based method. Feature extraction, feature adjustment,transformation calculation and transformation methods are also availableto the person skilled in the art for this purpose. For example, acluster analysis or grid analysis may be performed in the process. Thisprovides the user with an orientation aid before and during theendoscopy. The connection to augmented reality further assists theprovision of further information relating to the cavity element 20.

The controller 12 may also perform a comparison between an initiallocation of the sensor 18 of the endoscopic device 10 and thepredetermined location. The controller 12 may, for example, perform adetermination of a position of the sensor 18 of the endoscopic device 10based on an image data record supplied by the imaging examinationmodality 16 (or another imaging examination modality 16), for example.The supplied image data record may be supplied, for example, by an x-rayrecording of the endoscopic device 10. Determination of the position ofthe endoscopic device 10 may take place manually or automatically. Thisprovides a user with information about where the endoscopic device 10and/or sensor 18 of the endoscopic device 10 is/are located. In thisprocess, for example, a virtual image of the endoscopic device 10 in thecorresponding position may be generated and displayed in thetwo-dimensional or multi-dimensional model 30. Such tracking may takeplace, for example, with the aid of an MRT scan, as this provides betterresolution.

Alternatively, the position of the sensor 18 may be determined with theaid of a magnetic sensor, and/or by an optical locator (e.g., an opticaltracker), and/or by a mechanical/kinematic, kinematic or roboticlocator, or a position signal supplied by the endoscopic device 10. Theacquired position signal may be transmitted to the controller 12 (S8).The determined position may additionally or alternatively be transferredand/or output to the model 30 (e.g., displayed in the model). A positionsignal acquired with the aid of a magnetic sensor (e.g., with the aid ofa coil and a sensor) may be used, as unlike when the position isacquired with the aid of an imaging examination modality 16, the patient24 is not subjected to a dose of x-ray radiation. In one embodiment, amechanical/kinematic locator including a robot with active restrictionof a capacity for movement is provided.

The controller 12 generates a navigation signal for navigating theendoscopic device 10 taking into account the predetermined relativelocation (S5). The generated navigation signal may be transmitted, forexample, to an output facility 38 (e.g., a display unit of a computer(S6)) and may in the process, for example, bring about the outputting ofa navigation instruction in a text field 40. Such a navigationinstruction may, for example, include information instructing the user,for example, to move the endoscopic device 10 20 centimeters in aspecified direction and/or to rotate the endoscopic device through, forexample, 20 degrees to reach the predetermined location.

In order to generate the navigation signal, a navigation path from theinitial location of the sensor 18 to the predetermined relative locationmay be determined. However, because of a technical embodiment of thesensor 18 (e.g., a symmetry and/or geometry of the endoscope tip such asan angled embodiment of the sensor surface, a predetermined viewingangle or acquisition angle of the sensor 18 and/or flexibility of a tipof the endoscopic device 10), not all the viewing positions and viewingangles, as may be seen and set in the two-dimensional ormulti-dimensional model 30, may be achieved with the endoscopic device10. According to the method, modification of the predetermined locationto an alternative location and/or modification of the determinednavigation path may take place as a function of a technical embodimentif, for example, a restricting condition is present, which compromises acapacity for movement of the endoscopic device 10. Such a restrictingcondition is, for example, a limiting of the ability of the endoscopicdevice 10 to move through the entry opening 32 due to the position ofwhich the endoscopic device 10 is to be guided, for example, through asolid material (e.g., a layer of musculature). Alternatively, theendoscopic device 10 is to be inserted into the cavity in an environmentwhere movement is limited, for example, due to the proximity of organs.

Such a restricting condition may, for example, restrict a rotation ofthe endoscopic device 10 in all degrees of freedom. Use of theendoscopic device 10 may provide, for example, that an environmentcontaining critical vascular structures restricts such rotation. Aparameter for the technical embodiment of the sensor 18 and/orcoordinates and/or parameters for the restricting condition may be inputinto the controller 12, for example, manually by a user and storedthere. Alternatively, the parameters may also be retrieved from anexternal data server and received by the controller 12.

Alternatively or additionally, the generated navigation system may betransferred to a further control device 22 (S6). Such a control device22 (e.g., a robot) may automatically assume the perspective for theobject 26 to be examined. The further control device 22 may be a robotthat has torque sensors in all or some axes to detect the application ofa force. Such a robot 22 may operate according to the active constraintprinciple and thus includes a robot with active restriction of acapacity for movement. A user may guide, for example, an arm of therobot 22 but only in one movement direction, in which movement ispermitted by the navigation signal. The control device 22 may beconfigured to perform gravity compensation. For this, a tunnel, intowhich the endoscopic device 10 may be guided, is defined. The navigationsignal allows automatic or semi-automatic control of the endoscopicdevice 10 along the determined navigation path using the endoscopicdevice 10. As described above, such a mechanical/kinematic locator mayalso be used as a locator for determining the position of the sensor 18.

In a further optional method act, an entry position 32 of the endoscopicdevice 10 into the cavity element 20 is determined, and the navigationpath from the determined entry position 32 to the predetermined relativelocation is determined. A collision calculation may therefore be madeaccording to an individual anatomy of a patient, with structures atwhich the endoscopic device 10 is restricted being determined. Thedetermined entry position 32 may be modified as a function of thetechnical embodiment of the sensor 18 and/or of a restricting condition,which compromises a capacity for movement of the endoscopic device 10.Widely used algorithms are available to the person skilled in the artfor determining an entry position 32.

The exemplary embodiment described above explains the principle of themethod for controlling a position of an endoscopic device 10 so that,for example, a video image of the endoscopic device 10, a viewingdirection and/or viewing angle is/are matched, for example, to athree-dimensional volumetric image (e.g., a three-dimensional model 30)of an imaging examination modality 16 (e.g., a radiological examinationmodality). The view of the exemplary three-dimensional volumetric image(e.g., the exemplary three-dimensional model 30) is advantageous, as avisualization of anatomical and pathological structures assists a user(e.g., a surgeon) when operating the endoscopic device 10, if theexemplary 3D volume is overlaid on an endoscopic image of an endoscopicimage data record 36.

The present embodiments describe a system that automatically controls aposition of an endoscopic device 10 (e.g., a medical endoscope), so thata viewing position and/or viewing angle corresponds to the viewing angleand a viewing position selected beforehand on an exemplary 3D volume(e.g., a three-dimensional model 30). This allows the use ofcomputer-based augmented reality. The user (e.g., a physician) is ableto select an optimal view of anatomies and pathologies, for example,which are based on an exemplary 3D volumetric image. A transfer of thisview and/or this viewing angle to the augmented reality (e.g., into anexemplary digital endoscopic data record 36 in the form of an endoscopicimage) may take place after selection.

Two solutions are proposed for reaching the desired position of theendoscopic device.

In one embodiment, the endoscopic device 10 is tracked (e.g., byacquiring and determining a position signal of the endoscopic device 10using an electromagnetic and/or optical sensor) and may then beoperated, for example, manually by the user. The sensor for acquiringthe position signal may be registered in the imaging examinationmodality 16. The sensor and/or the controller 12 may then be guided bythe user to the predetermined location or to an alternativepredetermined location.

Alternatively, the endoscopic device 10 may also be positioned, forexample, on a robot arm of a further control device 22. The controldevice 22 may, for example, being able to decode a position that wasregistered additionally or alternatively for the imaging examinationmodality 16. The further control device 22 may then guide the endoscopicdevice 10 to the predetermined location or the alternative location.This may take place automatically or semi-automatically.

Both cited applications may include, for example, software of thecontroller 12 and a restriction of the entry opening 32. Additionally oralternatively, the technical embodiment of the endoscopic device mayinclude, for example, an angled optical system with a specified degreeof angling. If such parameters are taken into account but because of thepredetermined location, the predetermined location may not be reached,for example, because of a restricting condition at the entry opening 32,the system may calculate the most optimal position for the sensor 18 ofthe endoscopic device 10, which is very close to the predeterminedlocation.

It is to be understood that the elements and features recited in theappended claims may be combined in different ways to produce new claimsthat likewise fall within the scope of the present invention. Thus,whereas the dependent claims appended below depend from only a singleindependent or dependent claim, it is to be understood that thesedependent claims can, alternatively, be made to depend in thealternative from any preceding or following claim, whether independentor dependent, and that such new combinations are to be understood asforming a part of the present specification.

While the present invention has been described above by reference tovarious embodiments, it should be understood that many changes andmodifications can be made to the described embodiments. It is thereforeintended that the foregoing description be regarded as illustrativerather than limiting, and that it be understood that all equivalentsand/or combinations of embodiments are intended to be included in thisdescription.

1. A method for assisting navigation of an endoscopic device using acontroller with the aid of at least one digital image data record of animaging examination modality, the at least one digital image data recorddescribing an image of an object to be examined with the aid of theendoscopic device in a cavity element, the method comprising:determining a digital two-dimensional or multi-dimensional model of theobject to be examined based on the at least one image data record;receiving an operating action that predetermines a relative location ofa sensor of the endoscopic device in relation to the object based on thedigital model; registering the digital model with the endoscopic device,a digital endoscopic data record supplied by the endoscopic device, orthe endoscopic device and the digital endoscopic data record; comparingan initial location of the sensor with the predetermined relativelocation; and generating a navigation signal for navigating theendoscopic device taking into account the predetermined relativelocation.
 2. The method of claim 1, wherein navigation of the endoscopicdevice within the cavity element of a patient is assisted.
 3. The methodof claim 1, further comprising: determining a navigation path from aninitial location of the sensor to the predetermined relative location;modifying the predetermined location to an alternative location,modifying the determined navigation path as a function of a technicalembodiment of the sensor, as a function of a restricting condition thatcompromises a capacity for movement of the endoscopic device, or as afunction of the technical embodiment of the sensor and the restrictingcondition, or a combination thereof; or a combination thereof.
 4. Themethod of claim 3, further comprising: determining an entry position ofthe endoscopic device into the cavity element and determining thenavigation path from the determined entry position to the predeterminedrelative location; modifying the determined entry position as a functionof a technical embodiment of the sensor, as a function of a restrictingcondition that compromises a capacity for movement of the endoscopicdevice, or as a function of the technical embodiment of the sensor andthe restricting condition; or a combination thereof.
 5. The method ofclaim 1, further comprising generating and outputting, by an outputfacility, a navigation instruction using the navigation signal.
 6. Themethod of claim 1, further comprising: determining a position of thesensor of the endoscopic device based on an image data record of the atleast one digital image data record supplied by the imaging examinationmodality, based on a position signal supplied by a magnetic sensor, anoptical locator, a mechanical/kinematic, kinematic, or robotic locator,or a combination thereof, or supplied by the endoscopic device, or acombination thereof; transferring, outputting, or transferring andoutputting the determined position to the digital model; or acombination thereof.
 7. The method of claim 3, further comprisingautomatically or semi-automatically controlling the endoscopic devicealong the navigation path, the controlling comprising automatically orsemi-automatically controlling a control device connected to theendoscopic device using the navigation signal.
 8. The method of claim 1,wherein the registering takes place after receipt of the operatingaction.
 9. A controller comprising: a processor configured to assistnavigation of an endoscopic device with the aid of at least one digitalimage data record of an imaging examination modality, the at least onedigital image data record describing an image of an object to beexamined with the aid of the endoscopic device in a cavity element, theprocessor further configured to: determine a digital two-dimensional ormulti-dimensional model of the object to be examined based on the atleast one image data record; receive an operating action thatpredetermines a relative location of a sensor of the endoscopic devicein relation to the object based on the digital model; register thedigital model with the endoscopic device, a digital endoscopic datarecord supplied by the endoscopic device, or the endoscopic device andthe digital endoscopic data record; compare an initial location of thesensor with the predetermined relative location; and generate anavigation signal for navigating the endoscopic device taking intoaccount the predetermined relative location.
 10. An endoscopic devicecomprising: a controller configured to assist navigation of anendoscopic device with the aid of at least one digital image data recordof an imaging examination modality, the at least one digital image datarecord describing an image of an object to be examined with the aid ofthe endoscopic device in a cavity element, the controller furtherconfigured to: determine a digital two-dimensional or multi-dimensionalmodel of the object to be examined based on the at least one image datarecord; receive an operating action that predetermines a relativelocation of a sensor of the endoscopic device in relation to the objectbased on the digital model; register the digital model with theendoscopic device, a digital endoscopic data record supplied by theendoscopic device, or the endoscopic device and the digital endoscopicdata record; compare an initial location of the sensor with thepredetermined relative location; and generate a navigation signal fornavigating the endoscopic device taking into account the predeterminedrelative location
 11. A computer program product comprising at least onenon-transitory computer readable storage medium that stores program codehaving instructions executable by a controller for assisting navigationof an endoscopic device with the aid of at least one digital image datarecord of an imaging examination modality, the at least one digitalimage data record describing an image of an object to be examined withthe aid of the endoscopic device in a cavity element, the instructionscomprising: determining a digital two-dimensional or multi-dimensionalmodel of the object to be examined based on the at least one image datarecord; receiving an operating action that predetermines a relativelocation of a sensor of the endoscopic device in relation to the objectbased on the digital model; registering the digital model with theendoscopic device, a digital endoscopic data record supplied by theendoscopic device, or the endoscopic device and the digital endoscopicdata record; comparing an initial location of the sensor with thepredetermined relative location; and generating a navigation signal fornavigating the endoscopic device taking into account the predeterminedrelative location.
 12. The computer program product of claim 11, whereinnavigation of the endoscopic device within the cavity element of apatient is assisted.
 13. The computer program product of claim 11,wherein the instructions further comprise: determining a navigation pathfrom an initial location of the sensor to the predetermined relativelocation; modifying the predetermined location to an alternativelocation, modifying the determined navigation path as a function of atechnical embodiment of the sensor, as a function of a restrictingcondition that compromises a capacity for movement of the endoscopicdevice, or as a function of the technical embodiment of the sensor andthe restricting condition, or a combination thereof; or a combinationthereof.
 14. The computer program product of claim 13, wherein theinstructions further comprise: determining an entry position of theendoscopic device into the cavity element and determining the navigationpath from the determined entry position to the predetermined relativelocation; modifying the determined entry position as a function of atechnical embodiment of the sensor, as a function of a restrictingcondition that compromises a capacity for movement of the endoscopicdevice, or as a function of the technical embodiment of the sensor andthe restricting condition; or a combination thereof.
 15. The computerprogram product of claim 11, wherein the instructions further comprisegenerating and outputting, by an output facility, a navigationinstruction using the navigation signal.
 16. The computer programproduct of claim 11, wherein the instructions further comprise:determining a position of the sensor of the endoscopic device based onan image data record of the at least one digital image data recordsupplied by the imaging examination modality, based on a position signalsupplied by a magnetic sensor, an optical locator, amechanical/kinematic, kinematic, or robotic locator, or a combinationthereof, or supplied by the endoscopic device, or a combination thereof;transferring, outputting, or transferring and outputting the determinedposition to the digital model; or a combination thereof.
 17. Thecomputer program product of claim 13, wherein the instructions furthercomprise automatically or semi-automatically controlling the endoscopicdevice along the navigation path, the controlling comprisingautomatically or semi-automatically controlling a control deviceconnected to the endoscopic device using the navigation signal.
 18. Thecomputer program product of claim 11, wherein the registering takesplace after receipt of the operating action.